A pallet warehousing robot and warehousing system

Abstract

The embodiment of the application provides a tray storage robot and a storage system, which comprises a vehicle body, a vehicle body, a walking mechanism, a jacking assembly and a positioning assembly. The vehicle body is movably connected with the vehicle body; the walking mechanism is connected with the vehicle body and is used for driving the vehicle body to walk along the track beside the goods shelf to reach a specified position to take and place goods; the jacking assembly is connected with the vehicle body and the vehicle body and is used for driving the vehicle body to ascend and descend to lift the height of the goods, so that the goods is separated from the ground, thereby facilitating movement. The positioning assembly is connected with the vehicle body and comprises an image acquisition component and a dust removal component. The image acquisition component is used for acquiring the image of a detection mark arranged on the track of the goods shelf, and the dust removal component is used for removing dust on the detection mark, so as to ensure that the image acquisition component can acquire a clear image and determine the accurate position of the tray storage robot.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics conveying equipment technology, and in particular to a four-way shuttle board and warehousing system. Background Technology

[0002] With the rapid development of the modern logistics industry towards automation and intelligence, smart warehousing applications are becoming increasingly widespread. In a warehousing system, racks are fixed to the ground, and each rack has multiple storage aisles. To make full use of storage space, goods are placed sequentially into the storage aisles using pallets.

[0003] In related technologies, each storage aisle of the rack is equipped with a track underneath, and each track is equipped with a shuttle plate, which is used to move the goods in the corresponding storage aisle to the goods transfer table of each storage aisle for transfer.

[0004] In existing technologies, four-way shuttle racks have replaced traditional photoelectric positioning methods with QR code positioning. However, due to the structure of the four-way shuttle rack, the QR code needs to be affixed to the bottom surface of the sub-track of the four-way shuttle rack, facing upwards. This makes it easy for dust to accumulate on the QR code, leading to recognition problems when scanning. Utility Model Content

[0005] This application provides a pallet storage robot and storage system for moving and transporting goods within multiple storage channels on a shelf.

[0006] In a first aspect, embodiments of this application provide a pallet storage robot, comprising:

[0007] Vehicle body;

[0008] The vehicle body is movably connected to the vehicle body;

[0009] A walking mechanism connected to the vehicle body is used to drive the vehicle body to move along the track on the shelf;

[0010] A lifting assembly connected to the vehicle body is used to drive the vehicle body to rise and fall;

[0011] The positioning component connected to the vehicle body includes an image acquisition component and a dust removal component. The image acquisition component is used to acquire images of the detection markers set on the shelf track, and the dust removal component is used to remove dust from the detection markers to ensure the image acquisition effect of the image acquisition component.

[0012] In one feasible implementation, the walking mechanism includes a first walking component disposed on the vehicle body, the first walking component being used to drive the vehicle body to walk along a first direction.

[0013] In one feasible implementation, the walking mechanism further includes a second walking component movably connected to the vehicle body, the second walking component being used to drive the vehicle body to walk along a second direction, the first direction being perpendicular to the second direction;

[0014] The lifting assembly is also used to switch the first or the second traveling assembly to contact the track;

[0015] When the first walking component comes into contact with the track, the walking drive component drives the first walking component to move the goods along the first direction;

[0016] Alternatively, when the second walking component comes into contact with the track, the walking drive component drives the second walking component to move the goods in the second direction.

[0017] In one feasible implementation, the first walking component and the second walking component are respectively provided with corresponding walking drive components. The walking drive component corresponding to the first walking component drives the first walking component to move, and the walking drive component corresponding to the second walking component drives the second walking component to move.

[0018] Alternatively, the first walking component and the second walking component share the same walking drive component, which is used to drive the first walking component and the second walking component to move.

[0019] In one feasible implementation, the dust removal component 1030 is a brush, which is disposed on the vehicle body. When the brush moves with the vehicle body and passes the detection mark, it comes into contact with the surface of the detection mark.

[0020] In one feasible implementation, the dust removal component is a dust blowing fan, which is mounted on the vehicle body. When the dust blowing fan passes the detection mark on the track with the vehicle body, the dust blowing fan faces the detection mark either forward or at an angle to blow away the dust on the detection mark.

[0021] In one feasible implementation, the image acquisition component is a barcode scanner, and / or the detection identifier is a QR code identifier.

[0022] In one feasible implementation, the lifting assembly includes a lifting drive assembly, a lifting transmission assembly, and a lifting cam;

[0023] The lifting drive assembly is mounted on the vehicle body, the lifting cam is mounted on the side of the vehicle body and connected to the second traveling assembly, and the lifting drive assembly is connected to the lifting cam through the lifting transmission assembly;

[0024] The lifting drive assembly controls the raising and lowering of the second traveling assembly by driving the lifting cam to rotate, so as to selectively make the first traveling assembly or the second traveling assembly contact the track;

[0025] The lifting transmission assembly is a gearbox or chain / belt drive structure.

[0026] In one feasible implementation, the four-way shuttle plate further includes a first synchronous shaft and a second synchronous shaft disposed on the vehicle body;

[0027] The two ends of the first synchronous shaft are respectively connected to the first walking components that are symmetrically arranged, and the walking drive component is connected to the first synchronous shaft through a reversing component;

[0028] And / or, the first walking component is connected to the first synchronous shaft via a chain / belt drive structure;

[0029] The two ends of the second synchronous shaft are respectively connected to the second walking assembly arranged symmetrically through universal joints, and the walking drive assembly is connected to the second synchronous shaft through the reversing assembly.

[0030] In one feasible implementation, the pallet storage robot further includes multiple photoelectric modules, all of which are mounted on the vehicle body facing the outside or top of the pallet storage robot.

[0031] Each of the photoelectric modules includes at least two photoelectric detection sensors spaced apart.

[0032] Secondly, embodiments of this application provide a warehousing system, including a rack and a pallet storage robot as described in any of the first aspects. The rack is provided with a main track and a plurality of sub-tracks arranged perpendicularly to each other. The pallet storage robot is used to move on the main track and the sub-tracks to transport goods in various storage channels of the rack.

[0033] In a first aspect, embodiments of this application provide a pallet storage robot, including a vehicle body, a chassis, a walking mechanism, a lifting assembly, and a positioning assembly. The chassis is movably connected to the vehicle body; the walking mechanism is connected to the vehicle body and drives the vehicle body along a track beside a shelf to reach a designated location for picking up and placing goods; the lifting assembly is connected to the vehicle body and chassis and drives the chassis to lift the goods off the ground for easier movement. The positioning assembly is connected to the vehicle body and includes an image acquisition component and a dust removal component. The image acquisition component acquires images of detection markers placed on the shelf track, and the dust removal component removes dust from the detection markers, ensuring that the image acquisition component can acquire clear images and determine the accurate position of the pallet storage robot.

[0034] Secondly, embodiments of this application provide a warehousing system, including a rack and a pallet storage robot as described in any of the first aspects. The rack is provided with a main track and multiple sub-tracks arranged perpendicularly to each other. The pallet storage robot is used to move on the main track and the sub-tracks to transport goods in various storage channels of the rack. Since this warehousing system includes the pallet storage robot in any of the above-described technical solutions, it has all the beneficial effects of the four-way shuttle plate in any of the above-described technical solutions, which will not be elaborated further here. Attached Figure Description

[0035] The accompanying drawings, which are provided to further illustrate the present invention and constitute a part of the present invention, illustrate exemplary embodiments of the present invention and are used to explain the present application, but do not constitute an undue limitation of the present invention.

[0036] In the attached diagram:

[0037] Figure 1 This is a schematic diagram of the structure of a pallet storage robot provided in one embodiment of this application;

[0038] Figure 2 yes Figure 1 A schematic diagram of the internal structure of the pallet storage robot in the image;

[0039] Figure 3 yes Figure 2 A schematic diagram of the positioning component.

[0040] Explanation of reference numerals in the attached figures:

[0041] 100 - Vehicle body; 200 - First traveling assembly; 300 - Second traveling assembly; 400 - Travel drive assembly; 500 - Lifting assembly; 600 - First synchronous shaft; 700 - Reversing assembly; 800 - Second synchronous shaft; 900 - Gearbox assembly; 1000 - Positioning assembly; 1100 - Optoelectronic module; 1200 - Vehicle body; 1300 - Universal joint;

[0042] 310 - Mounting plate; 320 - Traveling wheel; 510 - Lifting drive assembly; 520 - Lifting transmission assembly; 530 - Lifting cam; 1010 - Fixing frame; 1020 - Image acquisition component; 1030 - Dust removal component. Detailed Implementation

[0043] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0044] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0045] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0046] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0047] With the rapid development of the modern logistics industry towards automation and intelligence, smart warehousing applications are becoming increasingly widespread. In a warehousing system, racks are fixed to the ground, and each rack has multiple storage aisles. To make full use of storage space, goods are placed sequentially into the storage aisles using pallets.

[0048] In related technologies, each storage aisle of the rack is equipped with a track underneath, and each track is equipped with a shuttle plate, which is used to move the goods in the corresponding storage aisle to the goods transfer table of each storage aisle for transfer.

[0049] In existing technologies, four-way shuttle racks have replaced traditional photoelectric positioning methods with QR code positioning. However, due to the structure of the four-way shuttle rack, the QR code needs to be affixed to the bottom surface of the sub-tracks, facing upwards. This makes it easy for dust to accumulate on the QR code, leading to recognition problems during scanning. To solve the problem of inaccurate positioning caused by dust covering the positioning QR code, this application provides a pallet storage robot and storage system. The solution provided by this application embodiment will be described in detail below with reference to the accompanying drawings.

[0050] Figure 1 This is a schematic diagram of the structure of a pallet storage robot provided in one embodiment of this application; Figure 2 yes Figure 1 A schematic diagram of the internal structure of the pallet storage robot.

[0051] Reference Figure 1 and Figure 2 As shown in the figure, this application provides a pallet storage robot, including a vehicle body 100, a frame 1200, a walking mechanism, a lifting assembly 500, and a positioning assembly 1000. The vehicle body 100 includes a frame and an outer protective shell. The frame is a frame structure, serving as the mounting base for various components. The frame 1200 is fitted into the hollow space inside the vehicle body 100. Specifically, the frame 1200 is movably connected to the vehicle body 100 via a slide rail, allowing it to move vertically under external force. The walking mechanism is connected to the vehicle body 100 and drives it to travel along a track beside the shelf to reach a designated location for picking up and placing goods. The lifting assembly 500 is connected to the vehicle body 100 and the frame 1200 and drives the frame 1200 to lift the goods off the ground, facilitating movement.

[0052] For example, the lifting assembly 500 is disposed between the vehicle body 100 and the vehicle frame 1200, and can be fixedly mounted on either the vehicle body 100 or the vehicle frame 1200. When retrieving goods, the lifting assembly 500 controls the vehicle frame 1200 to descend, then the vehicle body 100 moves into the space below the goods. Next, the lifting assembly 500 lifts the vehicle frame 1200 to a certain height, lifting the goods and detaching them from the storage location. Finally, the traveling mechanism drives the vehicle body 100 along the track to the designated position, completing the retrieval. When placing goods in the storage location, the traveling mechanism drives the vehicle body 100 to the storage location, and the lifting assembly 500 continuously lowers the vehicle frame 1200. After the goods are placed in the storage location, the vehicle frame 1200 detaches from the goods, and finally, the traveling mechanism removes the vehicle body 100 from the storage location, completing the unloading task.

[0053] The positioning component 1000 is connected to the vehicle body 100 and can be fixedly mounted on either the vehicle body 100 or the vehicle frame 1200. Specifically, the positioning component 1000 includes an image acquisition component 1020 and a dust removal component 1030. The image acquisition component 1020 is mounted on the vehicle body 100 and is used to acquire images of detection markers placed on the shelf track. The dust removal component 1030 is mounted on the vehicle body 100 and is used to remove dust from the detection markers, ensuring that the image acquisition component 1020 can acquire clear images and determine the accurate position of the pallet storage robot. For example, the image acquisition component 1020 can be configured as a barcode scanner, and the detection markers can be configured as QR code markers. After the barcode scanner scans the QR code markers, the QR code markers contain position coordinate information, and the control system of the pallet storage robot can accurately determine the position of the vehicle body 100.

[0054] In some examples, the dust removal component 1030 is configured as a dust-blowing fan, which is fixedly mounted on the vehicle body 100 by a mounting bracket 1010, and is positioned either upright or at an angle. The dust-blowing fan generates airflow when it rotates, and when the vehicle body 100 moves and causes the dust-blowing fan to pass over the detection mark, the airflow generated by the rotating dust-blowing fan blows away the dust covering the detection mark, ensuring that the image acquisition component 1020 can acquire an image of the detection mark.

[0055] In other examples, the dust removal component 1030 is configured as a brush, which is fixedly mounted on the vehicle body 100, and the tip of the brush can contact the detection markings on the track surface. When the vehicle body 100 moves past the detection markings, the brush can sweep away the dust on the surface of the detection markings.

[0056] Continue to refer to Figure 1 and Figure 2 As shown, for example, the walking mechanism includes a first walking component 200, which is fixedly disposed on two sides of the vehicle body 100 along a first direction. The first walking component 200 is connected to a corresponding walking drive component 400, and the walking drive component 400 drives the first walking component 200 to move, that is, the walking drive component 400 drives the vehicle body 100 to move along the first direction through the first walking component 200.

[0057] In some examples, the traveling mechanism further includes a second traveling assembly 300, which is movably connected to the vehicle body 100 and can be raised and lowered in the vertical direction. Specifically, two second traveling assemblies 300 are arranged along a second direction on two sides of the vehicle body 100 and connected to corresponding traveling drive assemblies 400. The traveling drive assemblies 400 drive the vehicle body 100 and the vehicle frame 1200 to move along the second direction via the second traveling assemblies 300. For example, the second traveling assemblies 300 can be slidably disposed on the inner side of the vehicle body 100 via guide rails. It should be noted that the first direction and the second direction are perpendicular to each other, and the first direction can be referred to as... Figure 2 As shown in the x-direction, the second direction can be referenced. Figure 2 shown in the y direction.

[0058] For example, the first walking component 200 and the second walking component 300 may also share a walking drive component 400, which selectively controls the movement of the first walking component 200 or the second walking component 300. For instance, the walking drive component 400 is connected to the first walking component 200 and the second walking component 300 via a reversing component 700.

[0059] The lifting component 500 can also switch the first traveling component 200 or the second traveling component 300 to contact the corresponding track; when the first traveling component 200 contacts the track, the traveling drive component 400 drives the first traveling component 200 to move, and the first traveling component 200 drives the vehicle body 100 to move the goods in the first direction; or, when the second traveling component 300 contacts the track, the traveling drive component 400 drives the second traveling component 300 to move, and the second traveling component 300 drives the vehicle body 100 to move in the second direction.

[0060] like Figure 2 As shown, the pallet storage robot includes a first synchronous shaft 600 and a second synchronous shaft 800 mounted on the vehicle body 100. The two ends of the first synchronous shaft 600 are respectively connected to first walking components 200 symmetrically arranged on both sides of the vehicle body 100. The walking drive component 400 is connected to the first synchronous shaft 600 via a reversing component 700. For example, the reversing component 700 is connected to the first synchronous shaft 600 via a chain drive component or a belt drive component, and each of the two first synchronous shafts 600 is further connected to the first walking component 200 via a chain drive component or a belt drive component.

[0061] The reversing assembly 700 is connected to the second synchronous shaft 800 via a chain drive assembly or a belt drive assembly. Both ends of the second synchronous shaft 800 are connected to the second travel assemblies 300 symmetrically arranged on both sides of the vehicle body 1200 via universal joints 1300. It can be understood that, since the second synchronous shaft 800 is connected to the second travel assembly 300 via the flexible universal joints 1300, after the lifting assembly 500 drives the second travel assembly 300 to rise and fall, changing its position, the power output from the travel drive assembly 400 can also be transmitted to the second travel assembly 300 via the second synchronous shaft 800 and the universal joints 1300. That is, the universal joints 1300 ensure power transmission to the travel drive assembly 400 without affecting the rising and falling of the second travel assembly 300.

[0062] Specifically, the output end of the walking drive component 400 is connected to the input end of the reversing component 700. One output end of the reversing component 700 is connected to the first walking component 200 through the first synchronous shaft 600, and the other output end is connected to the second walking component 300 through the second synchronous shaft 800 and the universal joint 1300. The walking drive component 400 can control the power transmission path of its power through the reversing component 700, so that its power is transmitted to the first walking component 200 or the second walking component 300. That is, the walking drive component 400 can control the action of the first walking component 200 or control the action of the second walking component 300.

[0063] The lifting assembly 500 is fixedly mounted on the vehicle body 100. It can select whether the first traveling assembly 200 or the second traveling assembly 300 contacts the track by controlling the relative movement of the first traveling assembly 200 and the second traveling assembly 300. Specifically, when the lifting assembly 500 controls the relative movement of the first traveling assembly 200 and the second traveling assembly 300, the first traveling assembly 200 contacts the track, while the second traveling assembly 300 disengages from the track. At this time, the traveling drive assembly 400 drives the first traveling assembly 200 to move, thereby enabling the first traveling assembly 200 to move the entire vehicle body 100 along the first direction.

[0064] When the lifting component 500 controls the relative movement of the first walking component 200 and the second walking component 300, and brings the second walking component 300 into contact with the track, the first walking component 200 disengages from the track. At this time, the walking drive component 400 correspondingly drives the second walking component 300 to move, thereby causing the second walking component 300 to move the entire vehicle body 100 along the second direction. It should be noted that the track contacted by the first walking component 200 is different from the track contacted by the second walking component 300; they are set perpendicular to each other. For example, the track contacted by the first walking component 200 is the first track, which extends along the first direction, and the track contacted by the second walking component 300 is the second track, which extends along the second direction. The first track and the second track are perpendicular to each other and intersect. The pallet storage robot can change its direction of movement at the intersection of the first track and the second track.

[0065] Goods are placed on a pallet, which is then placed in a storage channel extending in a first direction. A first track running in the same direction is positioned beneath this storage channel. When handling goods in these examples, the pallet storage robot moves along the first track to the area beneath the pallet. The lifting component 500 then drives the second walking component 300 and the vehicle body 1200 to rise, lifting the pallet and removing it from its original placement position. Next, the first walking component 200 moves along the first direction, moving the pallet. When the pallet storage robot reaches the intersection of the first track and a second track perpendicular to it, if the robot needs to change direction and move along the second track, the lifting component lowers the second walking component 300 to contact the second track, while simultaneously lifting the first walking component 200 away from the first track. Then, the walking drive component 400 drives the second walking component 300 to move along the second track, moving the goods to the designated location.

[0066] Understandably, this pallet storage robot can move along a track set in a first direction (the aforementioned first track) and a track set in a second direction (the aforementioned second track), which greatly improves flexibility compared to the shuttle board of the prior art. It is no longer restricted to moving along a track in a certain direction, thus improving the efficiency of goods handling. Furthermore, since there is no need to set up a shuttle board in each track, the setup cost of the entire storage system is greatly reduced.

[0067] When the second traveling assembly 300 contacts the track extending in the second direction, the first traveling assembly 200 is suspended in the air, and the vehicle body 100 is used to support the cargo. The lifting assembly 500 can switch between the first traveling assembly 200, the second traveling assembly 300, and the corresponding track. Figure 1As shown, the vehicle body 1200 is movably mounted inside the vehicle body 100. When the first traveling component 200 contacts the rail, and the second traveling component 300 contacts the rail, the lifting component 500 drives the second traveling component 300 to continuously descend, and the vehicle body 1200 rests on the vehicle body 100. After the second traveling component 300 contacts the rail, it continues to move. At this time, under the relative action of forces, the height of the vehicle body 100 and the first traveling component 200 will rise until the first traveling component 200 disengages from the rail. The process of switching from the second traveling component 300 contacting the rail to the first traveling component 200 contacting the rail is the reverse of the above process and will not be described in detail.

[0068] Continue to refer to Figure 2 As shown, exemplarily, the lifting assembly 500 includes a lifting drive assembly 510, a lifting transmission assembly 520, and a lifting cam 530. The lifting drive assembly 510 is fixedly mounted on the vehicle body 100, and the lifting cam 530 is disposed on the side of the vehicle body 100 and connected to the second traveling assembly 300. The lifting drive assembly 510 is connected to the lifting cam 530 via the lifting transmission assembly 520. The lifting drive assembly 510 controls the lifting and lowering of the second traveling assembly 300 by driving the lifting cam 530 to rotate, so as to selectively make the first traveling assembly 200 or the second traveling assembly 300 contact the track; that is, the lifting drive assembly 510 controls the lifting and lowering of the second traveling assembly 300 by driving the lifting cam 530 to rotate, changing the relative position between the first traveling assembly 200 and the second traveling assembly 300, so that the first traveling assembly 200 or the second traveling assembly 300 contacts the track.

[0069] In the above example, the vehicle body 1200 is separated from the second traveling assembly 300. The lifting cam 530 can drive the second traveling assembly 300 to rise and fall. When the second traveling assembly 300 rises to a certain height, it lifts the vehicle body 1200 out of the vehicle body 100 to support the cargo and remove the cargo from the cargo position. When the second traveling assembly 300 falls to the moving height, the vehicle body 1200 is attached to the vehicle body 100, and the two support the cargo together.

[0070] Additionally, for example, the lifting drive assembly 520 is a gearbox or chain / belt drive structure, which is prior art and will not be described in detail here.

[0071] In other examples, the vehicle body 1200 is connected to the second traveling assembly 300, and the lifting cam 530 is connected to the vehicle body 1200. The lifting drive assembly 510 controls the raising and lowering of the vehicle body 1200 via the lifting cam 530, thereby driving the raising and lowering of the second traveling assembly 300. Similarly, when the first traveling assembly 200 contacts the track and the second traveling assembly 300 contacts the track, the lifting drive assembly 510 controls the vehicle body 1200 to descend via the lifting cam 530, causing the second traveling assembly 300 to descend in height. When the second traveling assembly 300 contacts the track, the force output by the lifting drive assembly 510 via the lifting cam 530 continues to act on the vehicle body 1200. At this time, the heights of the vehicle body 1200 and the second traveling assembly 300 remain unchanged. Under the interaction of forces, the heights of the vehicle body 100 and the first traveling assembly 200 rise until the first traveling assembly 200 disengages from the track.

[0072] For example, each second traveling assembly 300 includes a mounting plate 310 and a plurality of traveling wheels 320, the plurality of traveling wheels 320 being spaced apart on the mounting plate 310. The mounting plate 310 is connected to the vehicle body 100 via a limiting guide assembly, and the mounting plate 310 is engaged with a lifting cam 530. The lifting transmission assembly 520 is configured as a gearbox assembly 900, the gearbox assembly 900 being disposed on the vehicle frame along a second direction. A plurality of output ends of the gearbox assembly 900 can be connected to a plurality of lifting cams 530, the plurality of lifting cams 530 being spaced apart along the second direction on the vehicle body 100, and each lifting cam 530 being connected to a second traveling assembly 300. Furthermore, as... Figure 2 As shown, each second traveling assembly 300 has a gearbox assembly 900 on its inner side. Two opposing gearbox assemblies 900 are connected by a synchronous shaft. The lifting drive assembly 510 is connected to the input end of one of the gearbox assemblies 900 or to the synchronous shaft. That is, the lifting drive assembly 510 drives both gearbox assemblies 900 to operate simultaneously, and the two gearbox assemblies 900 drive all the lifting cams 530 to operate simultaneously. All the lifting cams 530 operate simultaneously, thereby controlling the simultaneous lifting and lowering of the opposing second traveling assemblies 300 to ensure stable lifting of the pallet. For example, the number of lifting cams 530 can be adaptively adjusted according to the length of the second traveling assembly 300, and the number of output ends of the gearbox assemblies 900 corresponds to the number of lifting cams 530. For example, the limiting guide assembly can be a slide rail slider assembly.

[0073] like Figure 2As shown, exemplarily, the first traveling assembly 200 includes a plurality of traveling wheels 320, which are respectively mounted on the frame of the vehicle body 100, and at least one traveling wheel 320 is connected to the first synchronous shaft 600 via a transmission chain. The traveling wheel 320 connected to the synchronous shaft is the driving wheel, and the other traveling wheels 320 are driven wheels. Of course, all the traveling wheels 320 can also be connected sequentially via a transmission chain, with all traveling wheels 320 serving as driving wheels.

[0074] In some examples, a support plate is provided above the vehicle body 1200. As the lifting assembly 500 drives the second traveling assembly 300 to continuously rise, the vehicle body 1200 supports the support plate on the lower surface of the pallet, lifting the pallet detach from the placement frame. After the lifting assembly 500 drives the second traveling assembly 300 to move down and contact the track, the lifting assembly 500 continues to operate, and the positions of the first traveling assembly 200 and the vehicle body 100 relative to the second traveling assembly 300 continue to rise. Then, the first traveling assembly 200 detaches from the track, and the support plate rests on the vehicle body 100. The support plate and the vehicle body 100 jointly support the pallet. For example, an anti-slip pad may also be provided on the support plate to increase the friction between the support plate and the pallet, preventing the pallet from slipping and moving during movement.

[0075] In some examples, the pallet storage robot also includes multiple photoelectric modules 1100. All photoelectric modules 1100 are mounted on the vehicle body 100 and face outwards or upwards towards the robot. They are used to detect obstacles in the direction of movement and avoid collisions with pallets or rack structures. For example, each photoelectric module 1100 includes at least two spaced-apart photoelectric detection sensors. Multiple photoelectric detection sensors simultaneously detect obstacles on one side, avoiding misjudgments of obstacles due to the failure of a single photoelectric detection sensor and ensuring that the four-way shuttle does not collide with obstacles.

[0076] Secondly, embodiments of this application provide a warehousing system, including shelves and a pallet storage robot as described in any of the first aspects. The shelves are provided with a main track and multiple sub-tracks arranged perpendicularly to each other. The pallet storage robot is used to move on the main track and the sub-tracks to transport goods in various storage channels of the shelves. Since this warehousing system includes the pallet storage robot in any of the above-described technical solutions, it has all the beneficial effects of the four-way shuttle plate in any of the above-described technical solutions, which will not be elaborated further here. It is readily understood that those skilled in the art can combine, separate, and reorganize the embodiments of this application based on the several embodiments provided in this application to obtain other embodiments, and these embodiments do not exceed the protection scope of this application.

[0077] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A pallet storage robot, characterized in that, include: Vehicle body (100); A vehicle body (1200) movably connected to the vehicle body (100); A walking mechanism connected to the vehicle body (100) is used to drive the vehicle body (100) to travel along the track on the shelf; A lifting assembly (500) connected to the vehicle body (100) is used to drive the vehicle body (1200) to rise and fall; The positioning component (1000) connected to the vehicle body (100) includes an image acquisition component (1020) and a dust removal component (1030). The image acquisition component (1020) is used to acquire images of the detection marks set on the shelf track, and the dust removal component (1030) is used to remove dust from the detection marks to ensure the image acquisition effect of the image acquisition component (1020).

2. The pallet storage robot according to claim 1, characterized in that, The walking mechanism includes a first walking component (200) disposed on the vehicle body (100), the first walking component (200) being used to drive the vehicle body (100) to walk in a first direction.

3. The pallet storage robot according to claim 2, characterized in that, The walking mechanism further includes a second walking component (300) movably connected to the vehicle body (100), the second walking component (300) being used to drive the vehicle body (100) to walk along a second direction, the first direction being perpendicular to the second direction; The lifting assembly (500) is also used to switch the first traveling assembly (200) or the second traveling assembly (300) in contact with the track; When the first walking component (200) contacts the track, the walking drive component (400) drives the first walking component (200) to move the goods along the first direction; Alternatively, when the second walking component (300) comes into contact with the track, the walking drive component (400) drives the second walking component (300) to move the goods in the second direction.

4. The pallet storage robot according to claim 3, characterized in that, The first walking component (200) and the second walking component (300) are respectively provided with corresponding walking drive components (400). The walking drive component (400) corresponding to the first walking component (200) drives the first walking component (200) to move, and the walking drive component (400) corresponding to the second walking component (300) drives the second walking component (300) to move. Alternatively, the first walking component (200) and the second walking component (300) share the same walking drive component (400), which is used to drive the first walking component and the second walking component to move.

5. The pallet storage robot according to claim 1, characterized in that, The dust removal component (1030) is a brush, which is disposed on the vehicle body (100). When the brush moves with the vehicle body and passes the detection mark, it comes into contact with the surface of the detection mark.

6. The pallet storage robot according to claim 1, characterized in that, The dust removal component is a dust blowing fan, which is installed on the vehicle body (100). When the dust blowing fan passes the detection mark on the track with the vehicle body, the dust blowing fan faces the detection mark directly or obliquely to blow away the dust on the detection mark.

7. The pallet storage robot according to claim 5 or 6, characterized in that, The image acquisition component is a barcode scanner, and / or the detection identifier is a QR code identifier.

8. The pallet storage robot according to claim 4, characterized in that, The lifting assembly (500) includes a lifting drive assembly (510), a lifting transmission assembly (520), and a lifting cam (530); The lifting drive assembly (510) is disposed on the vehicle body (100), the lifting cam (530) is disposed on the side of the vehicle body (100) and connected to the second walking assembly (300), and the lifting drive assembly (510) is connected to the lifting cam (530) through the lifting transmission assembly (520); The lifting drive assembly (510) controls the lifting of the second traveling assembly (300) by driving the lifting cam (530) to rotate, so as to selectively make the first traveling assembly (200) or the second traveling assembly (300) contact the track; The lifting transmission assembly (520) is a gearbox or chain / belt drive structure.

9. The pallet storage robot according to claim 8, characterized in that, The pallet storage robot also includes a first synchronous shaft (600) and a second synchronous shaft (800) disposed on the vehicle body (100); The two ends of the first synchronous shaft (600) are respectively connected to the first walking component (200) which is symmetrically arranged, and the walking drive component (400) is connected to the first synchronous shaft (600) through the reversing component (700); And / or, the first walking assembly (200) is connected to the first synchronous shaft (600) via a chain / belt drive structure; The two ends of the second synchronous shaft (800) are respectively connected to the second walking assembly (300) which is symmetrically arranged through universal joints (1300), and the walking drive assembly (400) is connected to the second synchronous shaft (800) through the reversing assembly (700).

10. The pallet storage robot according to claim 1, characterized in that, The pallet storage robot also includes multiple photoelectric modules (1100), all of which are mounted on the vehicle body (100) facing the outside or top of the pallet storage robot. Each of the photoelectric modules (1100) includes at least two photoelectric detection sensors spaced apart.

11. A warehousing system, characterized in that, The device includes a rack and a pallet storage robot as described in any one of claims 1-10, wherein the rack is provided with a main track and a plurality of sub-tracks arranged perpendicularly to each other, and the pallet storage robot is used to move on the main track and the sub-tracks to transport goods in various storage channels of the rack.

Images